Fuzzy Neural Network controller for AUV based on RAN
A fuzzy neural network controller based on amelioration of Resource Allocating Network (RAN) is presented. This controller uses the improved RAN algorithm to on-line tune the number of hidden nodes in rule layer, which makes the values of network center data vary adaptively. Thus the precision and real-time requirement of the control system can be satisfied by the FNN with less structure. Based on the simulation platform of a certain plantAUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.
Autonomous Underwater Vehicle fuzzy neural network Resource Allocating Network.
LV CHONG PANG YONG-JIE LI YE
State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin, China 150001
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
5726-5729
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）